EP1910773B1 - Verfahren und vorrichtung zur entfernungsmessung mittels kapazitiven oder induktiven sensoren - Google Patents

Verfahren und vorrichtung zur entfernungsmessung mittels kapazitiven oder induktiven sensoren Download PDF

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EP1910773B1
EP1910773B1 EP06776515A EP06776515A EP1910773B1 EP 1910773 B1 EP1910773 B1 EP 1910773B1 EP 06776515 A EP06776515 A EP 06776515A EP 06776515 A EP06776515 A EP 06776515A EP 1910773 B1 EP1910773 B1 EP 1910773B1
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Prior art keywords
field changes
field
signal
clock pulse
switch
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German (de)
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French (fr)
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EP1910773A1 (de
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Gerd Reime
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Priority claimed from DE102005045993A external-priority patent/DE102005045993B4/de
Priority claimed from DE102005063023A external-priority patent/DE102005063023A1/de
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/02—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness
    • G01B7/023—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness for measuring distance between sensor and object

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  • the invention relates to a method and a device for measuring the influence or the transit time of electrical and / or magnetic fields or field changes according to the preamble of claims 1 and 6.
  • the distance of a reference object to other objects must be determined.
  • Such an area of use can be, for example, the detection of metallic objects in the ground or the approach of objects in the automotive sector.
  • One possibility for distance measurement is the measurement of the light transit time between a transmitter emitting light radiation, an object reflecting this light radiation and a receiver.
  • a solution is for example from the DE 100 22 054 A1 known as an optical distance sensor, in which the phase shift between transmitting and receiving light beams is used for distance measurement.
  • the received signal having a minimum amplitude is fed to a synchronous rectifier together with the voltage of an oscillator.
  • a measurement signal originating from the light path is fed to the inputs of the synchronous rectifier with a purely electrically generated signal.
  • the output signal of the synchronous rectifier output signal is controlled by driving a delay element, the input signal until a sign change until the mean value of the two signals at the output is approximately zero.
  • the purpose of the synchronous rectifier is to determine very precisely the phases of the signal. Component-related delays, effects of time and temperature are separately referenced and compensated. Even when using a reference light path, the control is done electrically by influencing the delay element.
  • a classical synchronous rectifier is thus supplied with the photodiode signal and the purely electrically transmitted signal offset by 90 ° or 270 ° for phase detection. For this purpose, the signals in front of the synchronous rectifier are not equal to zero with the aim of keeping the respective signal sections of the received signal of the same length
  • a method for distance measurement by measuring propagation time wherein the transmission signal and the reception signal applied to the receiver are driven with the same clock.
  • the control signals thus determined are shifted by means of a phase shifter so that the distance deviation between the distance to the target object determined by the travel time measurement and the actual distance becomes minimal.
  • the aim is to optimize the sampling points with the transit time at high frequencies.
  • the light transmitters are operated periodically and alternately via a clock generator.
  • the regulated in the amplitude of at least one light path optionally acts with the light of another light emitter such as a compensation light source on the light receiver so that a received signal without isochronous signal components.
  • the received signal of the light receiver is fed to a synchronous demodulator, which in turn decomposes the received signal into the signal components corresponding to the two light sources. These are compared in a comparator with each other, without external light components, a signal corresponding to a zero state. If no signal corresponding to this zero state is present at the output of the comparator, the radiant power supplied to the light sources is regulated until this state is reached.
  • a distance measurement can be carried out if it is possible to detect the changes in an electric and / or magnetic field resulting from the approach, presence and / or or removing an object affecting the field.
  • pulses that cause changes to such fields by generating a charge or induction change propagate at the speed of light, while the changes themselves, e.g. a charge increase takes place more slowly in time.
  • the present invention the object of alternative methods for measuring the influence or duration of electrical and / or magnetic fields by capacitive and / or inductive means.
  • electrodes or coils which interact with capacitances and inductances in their surroundings or which are influenced by objects which influence the field and thus the Moss circle are selected as emitting elements and receivers.
  • other means for generating and detecting the electric and / or magnetic fields can be used. This can be done from the EP 706 648 B1 known principle of an optical balance are also used to measure the influence or the duration of electrical and / or magnetic fields or field changes.
  • the receiver is supplied with clocked signals from at least two field-changing or emitting elements in the form of electrodes or coils.
  • the in Fig. 1 The capacitor shown then corresponds to two electrodes with a defined distance.
  • the electric field that has been built up by charges applied to the electrode for example, changed by the object to be detected, ie, there is a temporal change of the electric and / or magnetic field. This results in an altered charge on the electrode, which in turn is measured to determine the removal / exposure of the object.
  • the field change of the electric field is detected by a receiver which is coupled to the emitting electrode.
  • Compensation takes place via a capacitor which, unlike the transmitting electrode and the object, which in this respect also form a kind of capacitor, has a known spacing between the surfaces relative to one another. Also from the capacitor a field change reaches the receiver. The received signals and thus the change values from the Belden measuring sections are compared with each other and compensated for the least possible differences from each other by means of amplitude and phase control. The control values of the amplitude or phase control then correspond to the value of the capacity or the running time, which is needed to build up the field lines.
  • the received signal of a clock cycle of transmitting electrode and compensation electrode in preferably about four equal sections, ie Einschaltzeitabitese divided.
  • the turn-on time of the transmitting electrode is designated by sections A and B and the turn-on time of the compensating electrode by C and D
  • the sections A and C are compared and compensated for each other by means of phase shift to the smallest possible difference.
  • the sections B and D are by means of amplitude control to each other adjusted to the least possible differences.
  • the sections A and C contain information about the running time, while sections B and D contain information about the static capacity or static influence of the field. From the delay of the phase shifter can then be determined the duration of field changes of the electric field and thus the distance between the electrode and the object or receiver.
  • essentially only the transmitting electrode and the compensation electrode are to be replaced by a coil and a compensation coil, wherein the receiver may possibly also be designed as a receiving coil.
  • the compensation allows complete cancellation of the isochronous signal component, i. only the actual amplifier noise remains.
  • the amplifier can therefore have a very high gain, or can even be implemented as a high-gain limiter amplifier.
  • the clock change signals occurring at clock changes are detected and determined from these a difference value which is minimized by means of a phase shifter. From the delay caused by the phase shifter of the signal, the influence or the duration of electrical and / or magnetic fields or field changes and thus the distance between transmitter and object or receiver can be determined. Due to the high amplification of the received signal, the running time of the field as a voltage peak at the time of the clock changes significantly.
  • This peak occurs in the respective clock of the emitting element, so the transmitting electrode and the compensation electrode - depending on the circuit at the latest on the comparator - with different polarity compared to the average of the noise and reaches two corresponding synchronously to the clock to the corresponding periods connected inputs of a comparator ,
  • This clock change signal is dependent on the amplitude of the field delay, but since it is only about the minimization of the difference value, the difference value of the signal from clock to clock can be synchronously demodulated in amplitude and an existing difference to control the phase shifter and to compensate for this Use difference to zero. Due to the clock, the time of occurrence of the clock change signal is known, so that only the peak is to be detected there. At the same time you can work with any clock.
  • the invention enables a distance measurement that allows an exact transit time measurement of electrical and / or magnetic fields or field changes, independent of the material properties of the object with amplifiers of low bandwidth, independent of the external properties of the object. Furthermore, a transit time measurement in the near range from the electrode or coil surface up to longer distances without switching the measuring range is possible.
  • An electrode 12 which forms a capacitor O with an object O, receives as a first field change emitting or generating element cyclically charged particles that affect their effect in the environment.
  • the charge applied in cycles in the form of a voltage pulse is influenced by the approach, presence or removal of an object O. This influence is not immediate, but with the delay of the light time.
  • the field changes can be received and taken together in the amplifier 23 from the electrodes.
  • the field changes detected dynamically by the device are received by the receiver as an element operatively connected to the emitting element .
  • the field change information returned by the object appears around the time of the light, ie at 15 cm by about 1 ns offset in time to the transmission information.
  • the time difference is separated from the actual pulse information.
  • the transmission pulse for the compensation electrode 21 is activated in the pulse pause, which receives its field change without the detour of the object O directly.
  • both signal powers S1, S2 according to Fig. 4 With the same amplitude (which of course can be kept the same size via an amplitude control of the electrodes 12, 21) appears at the input 23a of the amplifier 23 is essentially a DC voltage signal consisting of voltage signals of the two charge carriers alternately and a possible offset.
  • the DC voltage signal at the amplifier 23 at the transition of the transmission pulses of the two electrodes a transit time difference of 1 ns impressed.
  • a gap in the DC signal of the alternating waveforms arises where the compensating electrode 21 has already switched off, but the change pulse of the charge of the transmitting electrode 12 still has to cover the 15 cm to the object and back.
  • the compensating electrode 21 already transmits charge, while of the switched off at the right time transmitting electrode 12 is still a charge pulse on the way.
  • Fig. 5 shown. This results in a very short peak in the received signal with phase-synchronous, in the embodiment alternating polarity.
  • This time difference is extremely small for the receiver, so that it only occurs as an extremely low current change value with a low-pass characteristic of eg 200 kHz.
  • the advantage of the amplitude-controlled system according to the invention comes into play: Since only the short pulses are present as change information on the amplifier 23, which consists for example of a three-stage amplifier with 200 kHz bandwidth, the received signal can be almost arbitrarily amplified eg with a gain of ten thousand.
  • the theoretical change pulse of 1ns length and ideally of 10 mV at the first ampli ker output, although in practice only a heavily ground voltage swing of, for example, 10 microvolt (schematically Fig. 6 ), which, however, after a ten thousandfold amplification in the further amplifier stages, yields a signal of 100 mV with a length t1 of, for example, 5 ⁇ s ( Fig. 7 ).
  • the amplifier no special requirements, 200 kHz bandwidth is sufficient for example for a corresponding gain.
  • AC amplifiers are preferably used.
  • the signal appears after switching from one electrode to another after the switching time in alternating directions (positive-negative).
  • the received signal can be examined at this time for synchronous signal components.
  • the synchronous rectifier or synchronous demodulator D1, D2 is not a circuit which has to accurately detect the phase but clockwise detects the amplitude. The phase accuracy has no influence on the measurement accuracy, so that, for example, a phase shift of 20 ° is still irrelevant.
  • this information can be used in accordance with a control circuit according to FIG Fig. 1 (see below) be closed such that the signal of the compensation electrode 21 by known means (adjustable run time eg by means of adjustable all-pass or digitally adjustable phase shift) is shifted by the same amount as the charge influenced by an object.
  • the necessary displacement of the electrical drive pulse on the phase shifter 17 (FIG. Fig. 1 ) for the electrode 21 is then a direct measure of the influence or the duration of field changes on the electric field and thus also a direct measure of the effect or removal of the object O.
  • the two signal components for mutual compensation to "0" can, by means of phase shifting of the electrode 21, of course, e.g. in other high-gain operational amplifiers - without any special requirement on the bandwidth - are compared. If there is even a small difference between the two isochronous signal components, this is corrected to "0" via the phase control.
  • the amplitude of reception of at least one of the two electrodes at the input of the amplifier 23 controls the reception amplitude for both charge paths to the same value, as is known from US Pat EP 706 648 B1 known. Since, after switching over from the at least one electrode to the at least one further electrode, the phase difference is greatly prolonged as amplitude information, the signal should only be examined for clock-synchronous amplitude differences at one point in time if the transit time information has already decayed.
  • a clock frequency of about 100KHz - 200 KHz has proved to be suitable, in a first part of a clock period, the signal to runtime differences, which yes then appear as amplitude in the signal is examined before the regulation of the phase and in the second Part of a clock period to pure amplitude differences.
  • the amplitude control 18 is influenced only in amplitude to obtain approximately equal signals from both routes and thus to control the difference value to zero. Equal signals on both lines lead to a zero signal without isochronous alternating components.
  • phase of the direct-acting electrode 21 does not necessarily have to be adapted in accordance with the electrode 12 which is subject to the transit time influence. With appropriate wiring, the electrode subject to the transit time influence can also be influenced.
  • charge is supplied to the amplifier 23 via a second path 20 and the line 40 from the electrode 21.
  • the method is used to measure the propagation time of field changes in electric fields ( Fig. 1 ) and / or magnetic fields (FIG. 8), that is to say for measuring changes over time in an electrical and / or magnetic field or field changes.
  • charge is modulated by a clock controller 11, for example, at 200 KHz from the output 11 E via line 30, 31 via the electrode 12 in a detection path in a sensor-active region 14 introduced.
  • the charge on the electrode affects that surrounding electric field between electrode and object O. This influence occurs at the speed of light.
  • charge is also generated at a further electrode 21 as a compensation electrode, the charge of which also affects the received signal at the amplifier 23 intermittently.
  • charge passes in time with the clock control 11 via line 30, 33 at input 17a of the phase shifter 17 and output 17b of the phase shifter and line 34 to the input 22a of the inverter 22, from the output 22b, the charge via line 35 to the input 18a of Amplitude control 18 succeeded From the amplitude control 18, the charge passes through the output 18b to the electrode 21st
  • the signal S13 is the signal S13 from the two electrodes once via line 32, 40 and once via line 20, 40 as a first time change or second time change due to the field change.
  • the signal S13 passes via line 40 to amplifier 23 and is amplified in the amplifier and then fed via line 41 two similarly constructed synchronous demodulators D1, D2 with comparators 15 and 16, respectively Fig. 1 are shown below. It is not the task of the synchronous demodulators D1, D2 to accurately detect the phase, but instead the amplitude in a cyclic manner.
  • the phase accuracy has no influence on the measurement accuracy, so that, for example, a phase shift of 20 ° is still irrelevant.
  • FIG. 2 shows a waveform, as in a term over z. B. 15 cm object distance without an adaptation of the signal phase in at least one of the two field lines of the electrodes 12 and 21 is present.
  • the occurrence of the isochronous signal components can be detected with a corresponding gate circuit and assigned to the corresponding electrodes. It is to distinguish between differences in amplitude in the entire clock domain and signal amplitudes immediately after switching the take. For this purpose, a clock cycle is divided into four sections A / B / C / D in Fig. 2 divided.
  • the sections B, D represent amplitude values which are equal in the regulated state without clock-synchronous amplitude differences, ie from clock to clock.
  • the regulated state of the sections B, D relates to the amplitude control of at least one of the two electrodes.
  • a signal without clock-synchronized signal components is available at the same transit time from both electrodes. Only at a transit time difference between the signal of the further electrode 21 and the signal from the detection path appears an isochronous signal component, which, however, falls into the sections A and C.
  • the synchronous demodulators D1 and D2 are controlled with comparators from the clock controller 11 via the outputs 11A, 11B, 11C and 11D and the associated clock lines 50A, 50B, 50C and 50D so that synchronous demodulator D1 the isochronous amplitude difference of the temporal changes in the received signal S13 via the amplitude controller 18 for controlling the isochronous portions of the amplifier 23 to "0" corrects while synchronous demodulator D2 detects the delay difference between the signals and corrects the isochronous share of amplifier 23 via the phase shifter 17 to "0".
  • an isochronous signal component with phase-to-phase alternating polarity leads to a control signal S16 at the output of the synchronous demodulator D2, which in turn activates the phase shifter 17 such that the output 23b of the amplifier 23 a "0" signal is applied without isochronous signal components.
  • the received signal S13 is again decomposed into the two partial signals of the electrode 12 and the further electrode 21.
  • the signal passes via line 41, 41 B, 41 D to the sections B and D associated switches, which are actuated via the clock line 50B and 50D from the clock controller 11 in the clock change of the sections B and D.
  • the signals corresponding to the sections B and D of the changes which originate from the detection of the receiver which may have been influenced by the object are present on lines 60B and 60D.
  • the synchronous demodulator D1 is used for clock-wise amplitude detection, at the input thereof, i.
  • the sections B and D associated switches preferably already present a signal without isochronous portions of both routes. From the then remaining zero signal, the clock change signal TW can be detected in the noise at the output of the amplitude detector in the form of the synchronous demodulator D2.
  • a phase change of the sampling times over the clock lines 50A, 50B, 50C, 50D has no influence on the distance measurements in a wide range.
  • the synchronous demodulation is only quasi synchronous demodulation.
  • the phase itself is of little importance in order to make differences in the amplitude of the clock change signals recognizable and to make the isochronous component at the input of the amplitude detector in the form of the synchronous demodulator D2 to zero.
  • timing change signals are then minimized to each other by means of the phase shift of the signals present in the device between the electrodes 12 and 21 and preferably made zero.
  • the resulting delay of the phase shifter 17 is the duration of the field change and thus the distance to be determined of the object O.
  • the two upper switches of the synchronous demodulator D2 are turned on by the gate corresponding to the areas A and C, respectively Fig. 2 headed up.
  • the received signal S13 is likewise assigned to the amplitude signals of the two electrodes 12 and 21, but the signal sections corresponding to the sections A and C are assigned.
  • the signal passes via line 41, 41 A, 41C to the sections A and C associated switches which are actuated via the clock line 50A and 50C from the clock controller 11 in the clock change of the sections A and C.
  • the switch position at the output of the switch that the sections A and C corresponding Signal on line 60A and 60C.
  • These signals are fed via integrators R3, R4 and / or C3, C4 to the inputs 16a, 16b of the comparator 16.
  • the first field change and the second field change which occur during the clock change and which correspond to the transit time in the detection path in the sensor-active region 14 are recorded cyclically.
  • the magnitudes of the signals are dependent on the object O, but since it is a matter of determining the clock-synchronized difference value between these two signals, this does not matter.
  • the two signals are compared in the further comparator 16.
  • the difference value at the output 16c of the comparator corresponds to the phase difference between the first and the second field change and is converted to an amplitude value due to the integration in the receiver. This value can be sampled at any time when phase information is lost.
  • This difference value of the non-phase-accurate, ie not exactly coincident in the phase boundaries amplitude values passes via line 80 as a signal S18 to the input 17c of the phase shifter 17 and is changed in the phase shifter 17 until it is minimal and preferably zero, thereby the duration of From the set delay of the phase shifter 17, the transit time can be determined and thus the distance that is present at the output 17 d of the phase shifter 17 as a signal for the duration 93.
  • the amplitudes of the clock change signal TW disappear according to FIG. 3 in the noise.
  • the phase shifter 17 may be an analog circuit, but also a digital signal delay.
  • a high-frequency clock are counted so that e.g. the clock can be put into 1ns steps.
  • the signal S16 is sampled with an A / D converter and the result is converted into a corresponding phase shift.
  • the sensor-active region 14 with the measuring surfaces high impedance via the impedances Z1 and Z2 to the lines 31 and 32 or via the impedances Z3 and Z4 to the lines 36 and 20 and thus to the driver and the amplifier 23 coupled so that even the smallest Changes in the environment make themselves noticeable at the measuring surface in an amplitude and / or phase change.
  • an amplifier circuit is coupled to the measuring surface in such a high-impedance manner that the amplitude and / or phase of the measuring signal is hardly or only slightly influenced.
  • the coupling preferably takes place via capacitors and resistors, but it is also possible for coils or combinations of the abovementioned components or individual components to be provided for this purpose.
  • the impedance Z is a series connection of 10 pF and 56 k ⁇ at a clock frequency of 100 kHz and a drive voltage used by 2 volts.
  • the high-impedance coupling with respect to the drivers and the amplifier 23 is formed approximately the same size, which happens in Aüs outsbeispiel by equally sized capacitors, resistors, coils or combinations of the above components.
  • the capacitors results in the desired high impedance of the measuring surface, the electrode 12, the power amplifier and the measuring surface to the amplifier 23.
  • the object O is connected to the reference potential of the circuit according to the invention via air capacity or other type of electrical connection.
  • this is illustrated by the dashed mass 19.
  • Even a metallically conductive connection with the reference potential of the circuit in the immediate vicinity of the measuring surface does not disturb the sensitivity of the system. Due to the preamplification or the high control power of the synchronous demodulators D1, D2 with comparators even the smallest changes in the field can be detected properly.
  • FIG. 8 shows an alternative embodiment of the invention which enables a transit time measurement to detect field changes due to changing inductances.
  • the embodiment of FIG. 8 differs from the embodiment of FIG Fig. 1 essentially by the use of coils instead of electrodes.
  • the circuit and its use in the lower two-thirds of FIG. 8 is identical to the previously described description of Fig. 1 if you replace the term electrode by coil.
  • the sensor-active area ie the circuit downstream of the amplitude regulator 18 and downstream of the line 31 (upward from these reference symbols in FIG. 8), and the detection area in front of the amplifier 23 have also been changed.
  • the same reference numerals have been used to the greatest possible extent.
  • the clock control 11 is via output 11 E and via the lines 31 and 32 with intermediate impedance Z2 a current to the other coil used as a compensation coil 121. Accordingly in the clock of the clock control 11 inverts a current passes through the phase shifter 17 and the amplitude controller 18 of the Output 18b via lines 37 and 36 with intermediate impedance Z1 to the coil 112.
  • the coils 112, 121 are connected via line 38 to ground 39.
  • the thus clocked current signal is received by the receiving coil 113, determined and given to the inputs 23a, 23a 'of the amplifier 23. From the output 23b then takes place the amplitude and phase control described above.
  • both coils 112 and 121 have the same induction-possibly after regulation via the amplitude regulator 18 -the output 23b of the amplifier 23 has a signal corresponding to a zero state.
  • This regulated state is also obtained when the coils 112 and 121 are in turn moved in an external magnetic field in the sensor active region 14. If, however, a metallic object O is now buried in the sensor-active region in the ground, this object changes the induction of the coil 112, while the coil 121 is not influenced as a reference coil-in the exemplary embodiment. This change is detected in cycles by the receiver coil 113 and evaluated.
  • the distance of the object O can be determined as a signal 93 from a phase control of the clock change signals.
  • the signal 94 provides information about the turbulence properties or mass of the object O.
  • the second field change can also be present in electronic manner as a voltage signal without the use of a compensation element, in particular in the case of an inductive solution.
  • An advantage of the invention is also the arbitrary choice of the clock frequency, which can assume any desired values from one clock cycle to the next.
  • any "frequency hopping" FDMA
  • this system is suitable to implement with simple means not only a single term measuring distance, but also several parallel detection paths.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Geophysics And Detection Of Objects (AREA)
EP06776515A 2005-07-29 2006-07-29 Verfahren und vorrichtung zur entfernungsmessung mittels kapazitiven oder induktiven sensoren Active EP1910773B1 (de)

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PL06776515T PL1910773T3 (pl) 2005-07-29 2006-07-29 Sposób i urządzenie do pomiaru odległości za pomocą czujników pojemnościowych lub indukcyjnych

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE102005036354 2005-07-29
DE102005045993A DE102005045993B4 (de) 2005-07-29 2005-09-27 Verfahren zur Lichtlaufzeitmessung
DE102005063023A DE102005063023A1 (de) 2005-12-14 2005-12-14 Anordnung zur Überwachung eines Objekts
PCT/EP2006/007550 WO2007012502A1 (de) 2005-07-29 2006-07-29 Verfahren und vorrichtung zur entfernungsmessung mittels kapazitiven oder induktiven sensoren

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EP1910773A1 EP1910773A1 (de) 2008-04-16
EP1910773B1 true EP1910773B1 (de) 2013-03-27

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US (1) US20080197835A1 (enrdf_load_stackoverflow)
EP (1) EP1910773B1 (enrdf_load_stackoverflow)
JP (1) JP2009503471A (enrdf_load_stackoverflow)
ES (1) ES2414955T3 (enrdf_load_stackoverflow)
PL (1) PL1910773T3 (enrdf_load_stackoverflow)
WO (1) WO2007012502A1 (enrdf_load_stackoverflow)

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WO2007012502A9 (de) 2008-02-28
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JP2009503471A (ja) 2009-01-29
EP1910773A1 (de) 2008-04-16
ES2414955T3 (es) 2013-07-23
PL1910773T3 (pl) 2013-08-30

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